rolf pfeifer conferencia magistral

“Soft Robotics”Self-organization, embodiment,

and biological inspirationThe four messages of embodiment

Tecnológico de Monterrey Campus Querétaro22 February 2011

Rolf Pfeifer, Artificial Intelligence LaboratoryDepartment of informatics, University of Zurich, Switzerland

Freitag, 4. März 2011

Thanks to ...

Hajime AsamaRudolf BannaschJosh BongardSimon BovetRodney BrooksWeidong ChenSteve CollinsHolk CrusePaolo DarioRaja DravidRodney DouglasPeter EggenbergerMartin FischerDario FloreanoToshio FukudaRobert FullGabriel GomezFumio HaraAlejandro HernandezOwen HollandKoh HosodaFumiya IidaAuke Ijspeert Takashi Ikegami

Masayuki InabaAkio IshiguroOussama KathibAlois KnollYasuo KuniyoshiLukas LichtensteigerMax LungarellaRen LuoShuhei MiyashitaNorman PackardMike RinderknechtRoy RitzmannAndy RuinaGiulio SandiniOlaf SpornsLuc SteelsRuss TedrakeEsthen ThelenSethu VijakyakumarRuediger WehnerMartijn WisseHiroshi YokoiWenwei YuMarc Ziegler

… for their ideas

Hajime AsamaRudolf BannaschJosh BongardSimon BovetRodney BrooksWeidong ChenSteve CollinsHolk CrusePaolo DarioRaja DravidRodney DouglasPeter EggenbergerMartin FischerDario FloreanoToshio FukudaRobert FullGabriel GomezFumio HaraAlejandro HernandezOwen HollandKoh HosodaFumiya IidaAuke Ijspeert Takashi Ikegami

Masayuki InabaAkio IshiguroOussama KathibAlois KnollYasuo KuniyoshiLukas LichtensteigerMax LungarellaRen LuoShuhei MiyashitaNorman PackardMike RinderknechtRoy RitzmannAndy RuinaGiulio SandiniOlaf SpornsLuc SteelsRuss TedrakeEsthen ThelenSethu VijakyakumarRuediger WehnerMartijn WisseHiroshi YokoiWenwei YuMarc Ziegler

buzzword “embodiment”

seeing things differently

Contents

• Basic ideas: the four messages of embodiment

• Applications: Service- and companion-robots

• Where are we going? — “Soft robotics”• A look into the future: Self-assembly• Take home message

Getting into the spirit of embodiment

The spirit of embodiment

“Crazy Bird” — Morphology, Control

loosely hanging feetrubber/plastic

Design and construction:Mike Rinderknecht

Message 1: Physical embedding

Studying brain (or control) not sufficient: Understanding of

• embedding of brain into organism

• organism’s morphological and material properties

• interaction with environment

required

Let me be clear

The brain is important!

Let me be clear

The brain is important!

but not the whole story ...

A bit of background

Artificial Intelligence — goals

1. Understanding biological systems

2. Making abstractions, developing theory

3. Applications

animals

humans

beer-serving robot

vacuum cleanerFreitag, 4. März 2011

Zurich AI Lab robots

Didabot

Rufus T.Firefly

Ms. Gloria Teasdale

MorphoFreitag, 4. März 2011

AmouseSahabotI/IIMelissaTrippSamuraiAnalogrobDexterolatorStumpyEyebotMindstormsKheperasMitsubishiForkleg

Stumpy, Monkey, Puppy, Min-dog, Wheeled Walker, Mini-Stumpy, Wanda, Dumbo, Rabbit

AI Lab Robots(exploration of morphology)

Two views of intelligence

classical: cognition as computation

embodiment: cognition emergent from sensory-motor and interaction processes

Illustrations byShun Iwasawa

Successes and failures of the classical approach

successes

applications (e.g. Google)

consumer electronics

failures

foundations of behavior

natural forms of intelligence

interaction with real world

Message 2: Real/Artificial worlds

Understanding of differences between industrial robots and humans/animals and their environments

Industrial environments vs.real world

industrial environments

environment well-known

little uncertainty

predictability

real worldenvironment

limited knowledge and predictability

rapidly changing

high-level of uncertainty

Industrial robots vs. natural systems

principles:- strong, precise, fast motors- centralized control- optimization- computing power

Industrial robots

Industrial robots vs. natural systems

principles:- low precision- compliant- control distributed throughout body- reactive- coping with uncertainty

humans

no direct transfer of methods

Transferring methods

Sony Qrio:high stiffness

centralized controlconputationally intensive

By comparison: The “Passive Dynamic Walker”

Design and construction:Ruina, Wisse, Collins: Cornell UniversityIthaca, New York

The “brainless” robot”:walking without control

self-stabilization

Implications of embodimentSelf-stabilization

Pfeifer et al.,Science,16 Nov. 2007

Passive Dynamic Walker

self-stabilization

Short question

memory for walking?

Contrast: Full control — “hard”

Sony QrioHonda Asimo

Extending the ecological niche

Design and construction:Martijn Wisse, Delft University

self-stabilization

Extending the ecological niche

Design and construction:Martijn Wisse, Delft University

self-stabilization

“Denise”

self-stabilization

Message 3: Task distribution

Task distribution between brain (control), body (morphology, materials), and environment

morphological computation

Task distribution between brain (control), body (morphology, materials), and environment

no clear separation between control and hardware (“soft robotics”)

morphological computation

Message 3: Task distribution

“Stumpy”: task distribution

self-stabilization

almost brainless: 2 actuated jointsspringy materialssurface properties of feet

Design and construction: Raja Dravid, Chandana Paul, Fumiya Iida

The dancing robot “Stumpy”

Collaboration with Louis-Philippe Demers, Nanyang Technological University, Singapore

Movie:Dynamic Devices and AILab, Zurich

The dancing robot “Stumpy”

Collaboration with Louis-Philippe Demers, Nanyang Technological University, Singapore

Movie:Dynamic Devices and AILab, Zurich

Outsourcingfunctionality

Mini-rHexDesign and construction:Robin Guldener, Lijin Aryananda

soft, flexible, elastic materials

Outsourcingfunctionality

Mini-rHexDesign and construction:Robin Guldener, Lijin Aryananda

soft, flexible, elastic materials

The “robot frog” driven by pneumatic actuators (UTokyo)

Design and construction: Ryuma Niiyama and Yasuo KuniyoshiUniversity of Tokyo

The “robot frog” driven by pneumatic actuators (UTokyo)

Design and construction: Ryuma Niiyama and Yasuo KuniyoshiUniversity of Tokyo

Grasping

• many ways• winding spring• release• exploited by brain

“outsourcing” of functionalitydistribution of control through body

“free”

Towards “cognitive” robots

Adding sensors: generation of sensory stimulation through action

• knowledge about environment: pressure, haptic, acceleration, vision, ...

• knowledge about own body: angle, torque, force, vestibular, …

Message 4: Physical dynamics and information structure

Induction of patterns of sensory stimulation through physical interaction with environment

raw material for information processing of brain (control)

induction of correlations (information structure)

Loosely swinging arm

• preferred trajectories• biomechanical constraints

(morphology, materials)

elbow joint:passive, self-organizes into proper trajectory

Loosely swinging arm

• preferred trajectories• biomechanical constraints

(morphology, materials)

elbow joint:passive, self-organizes into proper trajectory

purpose?

Fitting it all together: the“story”

• exploration

• biomechanical constraints (morphology, materials)

• preferred trajectories

• generation of rich useful data

• induction of information structure (self-structuring)

• learning

• cross-modal associations (predictions)

Compliance, “softness”: the next steps

The super-compliant robot ECCEDesign and construction:

Rob Knight — robotstudio, GenevaRichard Newcombe — Imperial College

Owen Holland — Essex/Sussex UniversityHugo Marques, Cristiano Alessandro, Max

Lungarella — UZH, experiments

Anthropomorphic design

ECCE — Embodied Cognition in a Compliantly Engineered Robot

The super-compliant robot ECCE

Techfest 2011, IIT Bombay

Embodied IntelligenceSwitzerland

i-Days, LucerneSwitzerlandSeptember 2010

Hannover Fair, ICT Brussels, Science Fair St. Agrève, France

ECCE with Doris Leuthart, presidentof Switzerland: Innovation Fair 2010

Design and construction:Rob Knight — robotstudio, Geneva

Richard Newcombe — Imperial CollegeOwen Holland — Essex/Sussex University

Jaan Spitz, Pascal Kaufmann — UZHHugo Marques, Cristiano Alessandro, Max

Lungarella — UZH, experiments

der “bionische Roboter”

Essence

• self-structuring of sensory data through — physical — interaction with world

• physical process, not computational

pre-requisite for learning

Inspiration:John Dewey, 1896 (!)Merleau-Ponty, 1963Bajcsy, 1963; Aloimonos, 1990; Ballard, 1991Sporns, Edelman, and co-workersThelen and Smith (developmental studies)

Contents

• Where are we going? — “Soft robotics”• A look into the future: self-assembly• Take home message

Applications

• classical/algorithmic: chess, search engines, data mining, appliances, control, etc.

• embodied/robots in real world:entertainment, education (edutainment), service, medical, hazardous environments, etc.

Entertainment robots

The flute playing robotRoboter WF-4

Design and construction:Waseda University,Tokyo

The flute playing robotRoboter WF-4

Design and construction:Waseda University,Tokyo

Recptionist at last World Expo

Design and construction:Osaka University, andKokoro Dreams

Recptionist at last World Expo

Design and construction:Osaka University, andKokoro Dreams

The robot teacher Saya(Hiroshi Kobayashi,

Univ. of Science, Tokyo)

Support SuitsExoskeletons

HAL, the “HybridAssistive Limb ®”

Cyberdyne Inc.Exoskeleton

paralyzed individual to climb Breithorn (Switzerland)

Wheel chair: controlled by brain waives

65Design and construction:Jose del Millan, EPFL, Switzerland

recognition of subject’s intentions based on analysis of non-invasive EEG signals

First prototype

Design and construction:Konstantinos Dermitzakis

AILab, UZH

First prototype

Design and construction:Konstantinos Dermitzakis

AILab, UZH

Fitness center of thefuture?

ten, nine, eight, …

Robot development by OsakaUniversity and Kokoro DreamsJapan

Entertainment and sports ALP: The Adaptive Leg Press

Design andconstruction:Max Lungarellaand Raja Dravid

Entertainment and sportsALP: The Adaptive Leg Press

Design andconstruction:

Max Lungarellaand Raja Dravid

Entertainment and sportsALP: The Adaptive Leg Press

Design andconstruction:

Max Lungarellaand Raja Dravid

Contents

“Soft Robotics”

Soft to touch Soft movement Soft interaction Emotions

“Soft Robotics”

Soft to touch

- materials- soft skin- fur - deformable tissue

Soft movement

- elastic compliant materials for muscles and tendons- variable compl. actuators- expl. passive dynamics

Soft interaction

- soft movements- social and cognitive skills- reactive- soft materials

Emotions

- friendly interaction with humans- facial expression- body posture

The next “industrial revolution”

beyond traditional manufacturing

hard roboticsnew manufacturingtechnology

new industrial revolution

softbots

The next “industrial revolution”

beyond traditional manufacturing

manipulation skills

hard roboticsnew manufacturingtechnology

new industrial revolution

softbots

Rodney Brooks

New manipulation skills

Contents

Self-assemblyShuhei Miyashita’s “Tribolons”

• light, swimming on water (electrolyte)

• magnet and vibration motor

• “pantograph”

“Pizza” self-assembly

“Pizza” self- assembly

Design and construction:Shuhei Miyashita, AI Lab, UZH and CMU

Emergent functionalitya “bicycle”

emergent functionality

how does it work?

green discs:magnet

no vibration motor

yellow triangle:magnet

vibration motor

basin withelectrolyte

Contents

• Where are we going? — “Soft robotics”• A look into the future: self-assembly • Take home message

Summary and conclusions

Key to “soft robotics”:

understanding of “embodiment”

—> the “four messages”

Summary: The four messages of embodiment

Message 1: Physical embedding Understanding brain not enough; morphology materials; embedding

Message 2: Real/Artificial worlds Fundamental differences industrial and real-world environments

Message 3: Task distributionCooperation - brain, body, environment

Message 4: Physical dynamics and information structure Induction of information structure; dependence on morphology and control 85

Like to know more?

Visit us in Zurich

or read THE book

what book?!??

Rolf Pfeifer and Josh Bongard

How the body shapes the way we think — a new view of intelligence(popular science)

MIT Press, 2007

Illustrations by Shun Iwasawa

Chinese translation

Translated byWeidong ChenShanghai Jiao Tong UniversityandWenwei YuChiba University, Japan

Foreword byLin ChenChinese Academy of Science

translated byKoh Hosoda, Osaka University

andAkio Ishiguro, Tohoku University

to appear soon

How How the body shapes the way we think : a new view of intelligence

How the body shapes the way we think : a new view of intelligence

How 知能の知能原理

we think : a new view of

身体性に基づく構成論的アプローチ

知能の原理

R. Pfeifer, J. B

ongard

細田　

耕・石黒

章夫

身体性に基づく

構成論的アプローチ

R. Pfeifer, J. Bongard 著細田　耕・石黒章夫訳

アタリ

or joinThe ShanghAI Lectures

• global lecture series on natural and artificial intelligence

• video conference with 20 universities• 3D virtual collaborative environments for

classwork with 40 universities • intercultural cooperation on interdisciplinary

The ShanghAI Lectures, Sept to Dec 2011(from the University of Zurich)

Participating Universities 2010Time Zones

• Stanford• USC • UC Irvine

• NY Citytech• Vermont • Michigan

• Sao Paolo

• Salford• Manchester• Essex • Edinburgh

• Algiers

• UZH• ETHZ• EPFL• HSG• HSLU• TU Munich• LMU• Hamburg• Tallinn

• Shanghai• Beijing• Xi’an• Hosei• Osaka• Chiba• Nagoya• Tohoku• SKKU (Korea)• NTU (Singa)

• UTAS

• Herzlia• Jeddah • UAE

9am 4pm

5pm8am

4am1am

Participating Universities 2011Time Zones

• Stanford• USC • UC Irvine

• NY Citytech• Vermont • Michigan

• Sao Paolo

• Salford• Manchester• Essex • Edinburgh

• Algiers

• UZH• ETHZ• EPFL• HSG• HSLU• TU Munich• LMU• Hamburg• Tallinn

• Shanghai• Beijing• Xi’an• Hosei• Osaka• Chiba• Nagoya• Tohoku• SKKU (Korea)• NTU (Singa)

• UTAS

• Herzlia• Jeddah • UAE

9am 4pm

5pm8am

4am1am

3am•Queretaro

The Zurich AI Lab

Thank you for your attention!

The Zurich AI Lab

1987 Foundation with 2 PhD students

2010 ca. 30 scientific staff (7 Postdocs und 20 PhD students, master students)

http://ailab.ifi.uzh.ch/

Funding:

EU-ICT (Information and Communication Technologies) (Cognitive Systems, FET — Future and Emergent Technologies)

University of Zurich

Swiss National Science Foundation

Private Sector, Sponsors

Foundations, CIAN (Club of Intelligent Angels)

Research program

dynamic movement and locomotion

biorobotics

learning, developmentneural modelinghumanoid robots

educational technology

designart, entertainment

self-organization,self-assembly

modular robotics

artificial evolutionmorphogenesis

theory ofintelligence

“life as itcould be”

al assistive robotics

prosthetics and neural interfacing

applications to business design

Funding• University of Zurich, Switzerland

• Swiss FNS:- From locomotion to cognition- Dynamical coupling in motor-sensory function substitution- From morphology to functionality- Swiss National Competence Center, for Research (NCCR) Robotics

• EU-FET: - Locomorph- Octopus- Extended Sensory-Motor Contingencies- iCub (finished)

• EU-Cognitive Systems:- ECCERobot- Amarsi- EU-Cog II/III

• Private funding/others:- CIAN (Club of Intelligent Angels)- Maxon Motor- Festo- Hasler Foundation- Switch- Awtech 101

Research program

dynamic movement and locomotion

biorobotics

learning, developmentneural modelinghumanoid robots

educational technology

designart, entertainment

self-organization,self-assembly

modular robotics

artificial evolution

morphogenesis

assistive roboticsprosthetics and

neural interfacing

applications to business design

LocomorphOctopus

LocognitionMorpho-function

iCubECCERobot

AmarsiRobodoc

Dyn. CouplingALP

Prosthetic hand

Artists in LabInteractive installations

Scalableself-assemby

The ShanghAILectures

Industrial designand business

EU-Cog II

NCCR RoboticsStarted: Dec. 2010

(Switzerland)

NCCR: 12 year perspective

EPFLUniversity of Zurich

ETH Zurich

The Zurich AI Lab — Spin-offs

• Neuronics• Dynamic Devices • Starmind Innovation• Enexra inc.

Perception as embodied:The rotating dancer

Outsourcing? Insourcing?

Chinese textile workersdiscover their power

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